![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
test
Dependencies: ADXL345 aigamozu_auto_ver3_1 HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of aigamozu_auto_ver3_1 by
Diff: main.cpp
- Revision:
- 4:480f4eb9bcbc
- Parent:
- 1:d351cf39a6e3
--- a/main.cpp Sat Apr 25 04:40:37 2015 +0000 +++ b/main.cpp Sun Apr 26 16:44:23 2015 +0000 @@ -36,7 +36,9 @@ ZBRxResponse zbRx = ZBRxResponse(); XBeeAddress64 remoteAddress = XBeeAddress64(BASE1_32H,BASE1_32L); -AGZ_ROBOT robot[4]; +AGZ_ROBOT robot[5]; + +char Base_ID = 'A'; ///////////////////////////////////////// // @@ -158,6 +160,7 @@ xbee.getResponse().getZBRxResponse(zbRx); uint8_t *buf = zbRx.getFrameData(); uint8_t *buf1 = &buf[11]; + id = buf1[5] - 'A'; //Check Command Type @@ -182,18 +185,33 @@ case STATUS_REQUEST:{ //send normal data //Create GPS Infomation Packet - agz.createReceiveStatusCommand('A','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); + agz.createReceiveStatusCommand(Base_ID,'a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); //Select Destination ZBTxRequest tx64request(robot_Address,agz.packetData,agz.getPacketLength()); //Send -> Base xbee.send(tx64request); //send Kalman data - agz.createReceiveStatusCommandwithKalman('A','a',myGPS.longitudeKH,myGPS.longitudeKL,myGPS.latitudeKH,myGPS.latitudeKL); + agz.createReceiveStatusCommandwithKalman(Base_ID,'a',myGPS.longitudeKH,myGPS.longitudeKL,myGPS.latitudeKH,myGPS.latitudeKL); //Select Destination ZBTxRequest tx64request1(robot_Address,agz.packetData,agz.getPacketLength()); //Send -> Base xbee.send(tx64request); + + //send normal data + //Create GPS Infomation Packet + agz.createReceiveStatusCommand(Base_ID,'a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); + //Select Destination + ZBTxRequest tx64request2(collect_Address[id],agz.packetData,agz.getPacketLength()); + //Send -> Base + xbee.send(tx64request); + + //send Kalman data + agz.createReceiveStatusCommandwithKalman(Base_ID,'a',myGPS.longitudeKH,myGPS.longitudeKL,myGPS.latitudeKH,myGPS.latitudeKL); + //Select Destination + ZBTxRequest tx64request3(collect_Address[id],agz.packetData,agz.getPacketLength()); + //Send -> Base + xbee.send(tx64request); break; }